23 September 1993 Attitude sensor calibration for the ocean topography experiment satellite
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A ground-based software system to calibrate the attitude control sensors for the Ocean Topography Experiment (TOPEX) spacecraft is described. The algorithm determines sensor misalignment, bias and scale factor errors from gyro, sun sensor and star tracker measurements. The inherent yaw slew motion of the spacecraft during normal mission mode is exploited to make the error parameters observable. A two loop recursive least-squares algorithm is implemented with the feature of inhibiting the update of the error parameter state until all of the available data has been processed. This feature eliminates the estimation state feedback typical of other algorithms which can cause instability and convergence problems.
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Scott Davis, Scott Davis, John Lai, John Lai, } "Attitude sensor calibration for the ocean topography experiment satellite", Proc. SPIE 1949, Space Guidance, Control, and Tracking, (23 September 1993); doi: 10.1117/12.157073; https://doi.org/10.1117/12.157073

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